Actively modifying a field of view of an autonomous vehicle in view of constraints

Abstract

Methods and devices for actively modifying a field of view of an autonomous vehicle in view of constraints are disclosed. In one embodiment, an example method is disclosed that includes causing a sensor in an autonomous vehicle to sense information about an environment in a first field of view, where a portion of the environment is obscured in the first field of view. The example method further includes determining a desired field of view in which the portion of the environment is not obscured and, based on the desired field of view and a set of constraints for the vehicle, determining a second field of view in which the portion of the environment is less obscured than in the first field of view. The example method further includes modifying a position of the vehicle, thereby causing the sensor to sense information in the second field of view.

The invention claimed is: 
     
       1. A method comprising:
 causing a sensor in an autonomous vehicle to sense information about an environment in a first field of view, wherein a portion of the environment is obscured in the first field of view; 
 determining a desired field of view in which the portion of the environment is not obscured; 
 based on the desired field of view and a set of constraints for the vehicle, determining a second field of view in which the portion of the environment is less obscured than in the first field of view; 
 in response to determining the second field of view, modifying the sensor's field of view from the first field of view to the second field of view, wherein the second field of view is an improved field of view of the sensor, and wherein modifying the sensor's field of view comprises 
 modifying a position of the vehicle; and 
 causing the sensor to sense information in the second field of view. 
 
     
     
       2. The method of  claim 1 , wherein the set of constraints comprises at least one of constraints based on traffic laws and constraints based on passenger comfort. 
     
     
       3. The method of  claim 1 , wherein determining the desired field of view comprises:
 detecting an obstacle in the first field of view; and 
 in response to detecting the obstacle, determining the desired field of view. 
 
     
     
       4. The method of  claim 1 , wherein determining the desired field of view comprises:
 estimating a location of the vehicle; 
 detecting that the location of the vehicle is near a predetermined location; 
 in response to detecting that the location of the vehicle is near the predetermined location, determining the desired field of view. 
 
     
     
       5. The method of  claim 1 , wherein modifying the position of the vehicle comprises modifying at least one of a speed of the vehicle and an acceleration of the vehicle. 
     
     
       6. The method of  claim 1 , wherein each constraint in the set of constraints is associated with a respective weighting according to an importance of adhering to the constraint. 
     
     
       7. The method of  claim 1 , further comprising:
 determining a requested field of view for an external sensor, wherein the external sensor is physically separate from the vehicle; 
 sending to the external sensor a request for the requested field of view; and 
 receiving, from the external sensor, information sensed by the external sensor in the requested field of view. 
 
     
     
       8. The method of  claim 1 , wherein the second field of view is different than the desired field of view. 
     
     
       9. The method of  claim 1 , wherein causing the sensor to sense information in the second field of view further comprises modifying at least one of a position and an orientation of the sensor. 
     
     
       10. An autonomous vehicle comprising:
 a sensor; 
 at least one processor; and 
 data storage comprising:
 instructions executable by the at least one processor to:
 (a) cause the sensor to sense information about an environment in a first field of view, wherein a portion of the environment is obscured in the first field of view; 
 (b) determine a desired field of view in which the portion of the environment is not obscured; 
 (c) based on the desired field of view and a set of constraints for the vehicle, determine a second field of view in which the portion of the environment is less obscured than in the first field of view; 
 (d) in response to determining the second field of view, modify the sensor's field of view from the first field of view to the second field of view, wherein the second field of view is an improved field of view of the sensor, and wherein modifying the sensor's field of view comprises
 modifying a position of the vehicle; and 
 causing the sensor to sense information in the second field of view. 
 
 
 
 
     
     
       11. The autonomous vehicle of  claim 10 , wherein the set of constraints comprises at least one of constraints based on traffic laws and constraints based on passenger comfort. 
     
     
       12. The autonomous vehicle of  claim 10 , wherein determining the desired field of view comprises:
 detecting an obstacle in the first field of view; and 
 in response to detecting the obstacle, determining the desired field of view. 
 
     
     
       13. The autonomous vehicle of  claim 10 , further comprising a location sensor, wherein determining the desired field of view comprises:
 causing the location sensor to estimate a location of the vehicle; 
 detecting that the location of the vehicle is near a predetermined location; and 
 in response to detecting that the location of the vehicle is near the predetermined location, determining the desired field of view. 
 
     
     
       14. The autonomous vehicle of  claim 10 , further comprising a vehicle control system configured to modify the position of the vehicle. 
     
     
       15. The autonomous vehicle of  claim 10 , further comprising an actuator configured to modify at least one of a position and an orientation of the sensor, wherein causing the sensor to sense information in the second field of view further comprises modifying at least one of a position and an orientation of the sensor. 
     
     
       16. The autonomous vehicle of  claim 10 , further comprising:
 an external sensor interface, wherein the instructions are further executable by the processor to:
 (i) determine a requested field of view for an external sensor, wherein the external sensor is physically separate from the vehicle, 
 (ii) cause the external sensor interface to send to the external sensor a request for the requested field of view, and 
 (iii) receive, via the external sensor, interface information sensed by the external sensor in the requested field of view. 
 
 
     
     
       17. The autonomous vehicle of  claim 10 , wherein the sensor comprises at least one of a radar sensor, a laser sensor, a sonar sensor, and a camera. 
     
     
       18. A non-transitory computer-readable medium having stored therein instructions executable by a computing device to cause the computing device to perform the functions of:
 causing a sensor in an autonomous vehicle to sense information about an environment in a first field of view, wherein a portion of the environment is obscured in the first field of view; 
 determining a desired field of view in which the portion of the environment is not obscured; 
 based on the desired field of view and a set of constraints for the vehicle, determining a second field of view in which the portion of the environment is less obscured than in the first field of view; 
 in response to determining the second field of view, modifying the sensor's field of view from the first field of view to the second field of view, wherein the second field of view is an improved field of view of the sensor, and wherein modifying the sensor's field of view comprises 
 modifying a position of the vehicle; and 
 causing the sensor to sense information in the second field of view. 
 
     
     
       19. The non-transitory computer-readable medium of  claim 18 , wherein the set of constraints comprises at least one of constraints based on traffic laws and constraints based on passenger comfort. 
     
     
       20. The non-transitory computer-readable medium of  claim 18 , wherein the computing device is in the vehicle.